Three-dimensional calibration using orientation and position sensitive calibration pattern

ABSTRACT

Systems and methods using an orientation/position-sensitive calibration pattern for three-dimensional calibration of an imaging system, such as one used in a process for scanning documents are disclosed. The method generally includes positioning the pattern on a support, capturing images using cameras to be calibrated, each image containing at least a unique orientation and position sensitive sub-area of the pattern, determining a set of coordinate pairs of corresponding points in the image and the pattern for each image utilizing image data and pattern information, and performing optimization utilizing the sets of coordinate pairs to calibrate relative position, orientation, zoom, and/or lens distortion, etc. of each camera so as to construct a three-dimensional camera calibration model. The pattern is generally comprised of overlapping sub-areas of a minimum portion of the pattern.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates generally to scanning documents. Morespecifically, systems and methods using an orientation and/or positionsensitive calibration pattern for three-dimensional calibration of animaging system, such as may be used in a process for scanning documents,particularly bound documents, are disclosed.

2. Description of Related Art

Scanning books, magazines, and other printed material into digital formhas become more common with the advent of improved imaging, storage anddistribution techniques. Although unbound printed material can generallybe scanned with relative ease using automatic page-feeding mechanismssuch as those commonly found on digital copiers and scanners, bounddocuments present additional challenges. Bound documents include notonly books, but also periodicals, manuscripts, pamphlets, brochures,newspapers, manuals, and any other document having a bound edge. Manyinstitutions, such as the libraries, universities, bookstores, andprivate enterprises have vast collections of bound documents. Byconverting these documents into electronic form, such institutions canreduce the cost of storage, facilitate remote access, enablesimultaneous access by multiple users, facilitate search and retrievalof information, and/or protect information in rare or out-of-print worksfrom loss or destruction.

Once the content of a bound document is scanned, the recorded image canbe manipulated or otherwise processed. Digitally recorded bounddocuments can be de-warped, reformatted, supplemented with additionalinformation, compressed, and/or processed with OCR (optical characterrecognition) software, and indexed to facilitate electronic search.Thus, scanning and recording of bound documents facilitates the creationof digital libraries that can be remotely and simultaneously accessedand searched by multiple users.

Various mechanisms have been developed to enable the scanning of bounddocuments. For example, a traditional flat-bed platen scanner scansbound documents in a face-down position. However, for best results, aflat-bed scanner typically requires the application of force to thespine or binding region of the bound documents to insure that they comewithin the scanner's depth of focus. Such force can damage the spineregion of the document. In addition, using the flat-bed platen can betedious and time-consuming, as the bound documents typically must belifted and repositioned after each page is scanned. Further, imagequality is often poor due to loss of focus, uneven illumination, and/ordistortion caused by page curvature in the vicinity of the binding.

An alternative to the traditional flat-bed platen scanner is aplaten-less scanner that captures image data from a bound document in aface-up position. Such scanners typically do not require application ofadditional stress to the binding region of a bound document, since thedocument is scanned in its natural, face-up position. Some such scannersmay make use of automatic page turning apparatuses.

In such platen-less scanning systems, three-dimensional calibration ofthe imaging system may be performed to determine, for example, the exactposition and orientation of the cameras, zoom factors, distortion of thelenses, etc. Conventional calibration schemes generally require thecalibration pattern to be completely visible within the images of thecameras to be calibrated. Such a requirement may be extremely difficultto satisfy in a system where the cameras' fields of view may not overlapby a significant amount. Where the fields of view of the cameras do notoverlap significantly, there is only a very limited area where theentire calibration pattern would be visible by all cameras. Thus, itwould be desirable to provide systems and methods for improved threedimensional calibration of image capturing systems.

SUMMARY OF THE INVENTION

Systems and methods using an orientation and/or position sensitivecalibration pattern for three-dimensional calibration of an imagingsystem, such as may be used in a process for scanning documents,particularly bound documents, are disclosed. It should be appreciatedthat the present invention can be implemented in numerous ways,including as a process, an apparatus, a system, a device, or a method.Several inventive embodiments of the present invention are describedbelow.

Systems and methods using an orientation/position-sensitive calibrationpattern for three-dimensional calibration of an imaging system, such asone used in a process for scanning documents are disclosed. The methodgenerally includes positioning the pattern on a support, capturingimages using cameras to be calibrated, each image containing at least aunique orientation and position sensitive sub-area of the pattern,determining a set of coordinate pairs of corresponding points in theimage and the pattern for each image utilizing image data and patterninformation, and performing optimization utilizing the sets ofcoordinate pairs to calibrate relative position, orientation, zoom,and/or lens distortion, etc. of each camera so as to construct athree-dimensional camera calibration model. Additional presentations ofthe pattern may be made with different positions of the pattern and/ordifferent camera zoom and/or focus settings. The pattern is generallycomprised of overlapping sub-areas of a minimum portion of the pattern.

The calibration pattern generally includes features at least some ofwhich are marked with an orientation/position marker. The combination ofthe features and orientation/position markers within each sub-arearenders the sub-area unique within the calibration pattern andorientation and position sensitive. For example, the calibration patternmay include a grid of features composed of alternating colored blocks,e.g., black and white, such as squares of approximately equal size. Thesub-area of the calibration pattern may thus be an area of apredetermined minimum N blocks×M blocks. Each orientation/positionmarker may be of a size smaller than each block and of a different colorthan the block, e.g., white markers in black blocks and/or a blackmarkers in white blocks. In one embodiment, the calibration patternincludes a grid of 7×9 alternating black and white squares some of whichcontain orientation/position markers such that the sub-area is an areaof a minimum 4×4 squares.

According to another embodiment, a computer program product embodied ona computer readable medium includes instructions that, when executed bya processor, cause the processor to perform actions includingpositioning the pattern on a support, capturing images using cameras tobe calibrated, each image containing at least a unique orientation andposition sensitive sub-area of the pattern, determining a set ofcoordinate pairs of corresponding points in the image and the patternfor each image utilizing image data and pattern information, andperforming optimization utilizing the sets of coordinate pairs tocalibrate relative position, orientation, zoom, and/or lens distortion,etc. of each camera so as to construct a three-dimensional cameracalibration model.

According to yet another embodiment, a system may generally include anorientation and position sensitive calibration pattern configured to bepositioned on a support, the calibration pattern having a plurality ofsub-areas unique within the calibration pattern, each unique sub-areabeing orientation sensitive and each unique sub-area being positionsensitive within the calibration pattern, at least one camera to becalibrated and configured to capture images containing at least one ofthe unique sub-areas of the calibration pattern positioned on thesupport, and a signal processor configured to determine a set ofcoordinate pairs for each image utilizing image data and patterninformation regarding the calibration pattern, each coordinate pairincluding coordinates of corresponding points in the image and in thecalibration pattern, the signal processor is further configured toperform optimization utilizing the sets of coordinate pairs for eachimage to calibrate at least one of relative position, orientation, zoom,lens distortion of each camera so as to construct a three-dimensionalcalibration model of the camera.

These and other features and advantages of the present invention will bepresented in more detail in the following detailed description and theaccompanying figures which illustrate by way of example principles ofthe invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be readily understood by the followingdetailed description in conjunction with the accompanying drawings,wherein like reference numerals designate like structural elements.

FIG. 1 is a schematic diagram of an exemplary embodiment of an imagecapturing system for which three-dimensional calibration may beperformed using an orientation and/or position sensitive calibrationpattern.

FIG. 2 is a side view illustrating an operator at the image capturingsystem of FIG. 1.

FIG. 3 is an example of a suitable orientation and/or position sensitivecalibration pattern for three-dimensional calibration.

FIG. 4 is a flowchart of an exemplary process for three-dimensionalcalibration of an image capturing system.

DESCRIPTION OF SPECIFIC EMBODIMENTS

Systems and methods using an orientation and/or position sensitivecalibration pattern for three-dimensional calibration of an imagingsystem, such as may be used in a process for scanning documents,particularly bound documents, are disclosed. The systems and methods asdescribed in the examples presented herein are well suited for imagingdocuments such as bound documents and/or unbound documents includinglarge, fragile, and/or rare unbound documents. However, the systems andmethods can similarly be adapted or utilized for various other imagingapplications in which three-dimensional calibration of the imagingsystem is desired. The following description is presented to enable anyperson skilled in the art to make and use the invention. Descriptions ofspecific embodiments and applications are provided only as examples andvarious modifications will be readily apparent to those skilled in theart. The general principles defined herein may be applied to otherembodiments and applications without departing from the spirit and scopeof the invention. Thus, the present invention is to be accorded thewidest scope encompassing numerous alternatives, modifications andequivalents consistent with the principles and features disclosedherein. For purpose of clarity, details relating to technical materialthat is known in the technical fields related to the invention have notbeen described in detail so as not to unnecessarily obscure the presentinvention.

FIG. 1 is a schematic diagram of an exemplary embodiment of an imagecapturing system 20 for which three-dimensional calibration may beperformed using an orientation and/or position sensitive calibrationpattern. FIG. 2 is a side view illustrating an operator 42 at the imagecapturing system 20 of FIG. 1. The image capturing system 20 generallyincludes one or more imaging cameras 22, such as two high resolutioncameras each for imaging or photographing a corresponding facing page 24a, 24 b of an open bound document, such as a book 24, resting in asupport, such as an angled cradle 26, a table top, or a mechanicaldevice specially adapted for holding books and other documents. It is tobe understood that although a book is used herein in describing theimaging system and process, the system and process may be utilized toand/or adapted for use in the imaging of any other suitable type ofbound documents such as periodicals, manuscripts, pamphlets, brochures,newspapers, manuals and/or any other types of documents having a boundedge, typically with a hard or soft cover. The system and process mayalso be utilized and/or adapted for use in the imaging of unbounddocuments and/or various other applications in which three-dimensionalcalibration of the imaging system is desired. Furthermore, although theimaging cameras 22 are shown as an exemplary image capturing mechanismfor the image capturing system 20, any other image capturing mechanismsuch as a camera in combination with moving mirrors may be employed. Thesystem 20 may include a housing 40 or other structure to house orotherwise support the imaging cameras 22, lighting mechanism, and/orother components of the image capturing system 20. The imaging cameras22 facilitate in converting the facing pages 24 a, 24 b into electronicform for processing using, e.g., optical character recognition (OCR)techniques to produce an editable and/or searchable version of thedocument's text.

Typically, the image capturing system and in particular, the cameras 22,34, can be calibrated to determine the relative positions, orientations,zooms, lens distortions, etc. of the cameras 22, 34. The calibrationprocess generates a three-dimensional calibration model which may thenbe utilized to perform image processing to rectify the captured images.Without calibration of the cameras 22, 34, the image quality and/or OCRaccuracy can decrease. To calibrate the cameras 22, 34, the cameras 22,34 captures images of a calibration pattern positioned on the cradle 26and image data from the captured images can then be used to build thethree-dimensional calibration model for the image capturing system. Inparticular, for each image of the calibration pattern captured by acamera, the calibration process obtains a set of coordinate pairs, i.e.,the coordinates of a point in the image and the coordinates of thecorresponding point in the calibration pattern. In general, a greaternumber of coordinate pairs obtained results in better calibration.Merely as an example, 20 coordinate pairs for each image are obtained inone embodiment. Coordinates in the calibration pattern may bepre-assigned. Merely as an example, a top left corner of the calibrationpattern may be assigned coordinates (0, 0) while a top right corner ofthe calibration pattern may be assigned the coordinates (7, 0), etc.Using the various sets of coordinate pairs from the multiple imagesand/or presentations of the calibration pattern, optimization may thenbe performed to determine the positions of the cameras, orientations,zooms, lens distortions, etc. This optimization process is known in theart and is not discussed in further detail herein. The three-dimensionalcalibration model can then be used to approximately rectify the imagesof the target object, e.g., the facing pages 24 a, 24 b, captured by theimaging cameras 22. As is evident, a higher quality three-dimensionalcalibration model increases the quality of the resulting processedimages of the pages 24 a, 24 b and the accuracy of any OCR performed onthe processed images. Ideally, the three-dimensional calibration processcan be simply, quickly, and cost effectively performed in order tomaximize the throughput of the image capturing system 20.

To improve the quality of the three-dimensional calibration model, anorientation and/or position sensitive calibration pattern 38 such as oneshown in FIG. 3 may be positioned on the cradle or other support for thetarget object. The calibration pattern 38 is imaged by the cameras 22,34 and the image data is processed to construct a three-dimensionalcalibration model. The exemplary calibration pattern shown in FIG. 3includes various features or delineations such as corners or bordersbetween alternating black and white blocks resembling a checkerboardpattern. The calibration process may locate the delineations, e.g., bylocating the corners and/or borders between the black and white blocksor squares in the calibration pattern 38. In addition, the exemplarycalibration pattern 38 also includes various location and/or orientationmarkers (e.g., circles) in a subset of the blocks such that theabsence/presence of the location and/or orientation markers facilitatesin uniquely identifying the position and/or orientation of thecalibration pattern 38 within the image. In the exemplary calibrationpattern 38 shown, some of the black squares are marked with whitecircular dots although various other combinations of shapes (e.g.,squares, rectangles, ovals, triangles, etc.), sizes, and/or colors maybe employed Additionally or alternatively, the white squares may besimilarly marked with black location and/or orientation markers. It isto be understood that the pattern in FIG. 3 is merely one example of asuitable calibration pattern and numerous other suitable calibrationpatterns may similarly be employed. The use of an orientation/positionsensitive calibration pattern allows the use of partial images of thepattern to fully parameterize the calibration model such that there arefewer limitations in the way the images are captured.

It is noted that conventional patterns used for calibration of imagecapturing systems are generally orientation and position insensitive.Such orientation and position insensitive patterns generally require thecalibration pattern to be completely visible within the images of thecameras to be calibrated. Such a requirement may be extremely difficultto satisfy in a system where the cameras' fields of view may not overlapby a significant amount. Where the fields of view of the cameras do notoverlap significantly, there is only a very limited area where theentire calibration pattern would be visible by all cameras. In contrast,an orientation/position sensitive calibration pattern 38 as describedherein does not require that the calibration pattern be completelyvisible within the images of the cameras to be calibrated. Theorientation/position sensitive calibration pattern 38 also allows forthe three-dimensional calibration to be achieved quickly and cheaply toidentify the pose of the calibration target and in turn generate athree-dimensional calibration model without highly skilled usage andwithout excessive pattern presentation.

In the example of FIG. 3, the orientation/position sensitive calibrationpattern 38 is composed of a 9×7 grid of alternating black and whitesquares. The calibration pattern 38 can be configured so that thepattern within any 4 square by 4 square (4×4) sub-area or sub-pattern isunique such that the pose of the pattern 38, e.g., orientation, angles,etc., can be determined from an image area covering at least a 4×4sub-area. It is to be understood that various other sizes of sub-areasmay be similarly uniquely configured for the calibration pattern 38using various combinations of position/orientation markers, for example.The overall dimensions and/or the individual features/markers of thecalibration pattern 38 may be tailored to the image area size of thecameras and/or the particular application of the image capturing system.In one embodiment, the overall dimensions of the calibration pattern 38approximately extends the full length and width of the imaging area ofeach camera 22 and/or of each stereoscopic camera 34. Alternatively, theoverall dimensions of the calibration pattern 38 may be greater than orless than the length and/or width of the imaging area of each camera 22and/or of each stereoscopic camera 34. The calibration pattern may beconfigured such that the imaging area of each camera 22, 34 captures atleast the size of the unique sub-area of the calibration pattern suchthat the pose of the pattern can be determined from the image data tofacilitate in the construction of the calibration model. The calibrationpattern may be configured such that the pose of the pattern can bedetermined regardless of the region that each camera images where theregion encompasses at least one sub-area.

FIG. 4 is a flowchart of an exemplary process 50 for constructing athree-dimensional calibration model for the image capturing system,utilizing the orientation/position sensitive calibration pattern. Theprocess 50 performs signal processing on the images captured by camerasof the system. In particular, at block 52, an orientation and/orposition sensitive pattern is positioned on a support for a targetobject. In the example described herein, a copy of the calibrationpattern may be positioned on each side of the cradle. However, dependingon the application, a single copy of the calibration pattern may beutilized. At block 54, the cameras of the image capturing systemcaptures images of at least a sub-area of the calibration pattern.

For each image captured in block 54, features and/ororientation/position markers of the calibration pattern are identifiedto uniquely obtain a set of coordinate pairs at block 56. Eachcoordinate pair includes coordinates for corresponding points in theimage and in the calibration pattern. As noted, each image generallycaptures at least a sub-area of the calibration pattern such that theposition and orientation of the calibration pattern within the image canbe uniquely determined based on the various features and/ororientation/position markers of the calibration pattern. Because thepattern is an orientation/position sensitive pattern that is input tothe signal processor, the signal processor can determine the pose, e.g.,orientation, angles, distances, etc., of the pattern from the data ineach image. In other words, an operator would not need to specify thepose of the pattern for each presentation of the pattern nor would theoperator need to adhere to a specific pattern presentation scheme.

Blocks 52, 54, and 56 may be repeated as necessary to perform additionalpresentations in order to fully parameterize a three-dimensionalcalibration model. Generally, a minimum of 4 presentations are made andtypically up to 10 presentations are made. For example, the calibrationpattern may be re-positioned on the support in block 52 for a differentpose such that the pattern at least partially extends to areas to whichthe pattern previously did not extend.

After a sufficient number of iterations of blocks 52-56 are performedsuch that a three-dimensional calibration model may be fullyparameterized, optimization is performed at block 58 using the sets ofcoordinate pairs to calibrate relative positions, orientations, zooms,lens distortions, etc. of the cameras of image capturing system so as togenerate three-dimensional calibration model. This optimization processis known in the art and is not discussed in further detail. Inparticular, various suitable optimization algorithms to generate thethree-dimensional calibration model, as are well known in the art, maybe employed in at block 58.

In one embodiment, blocks 52-56 are repeated for each patternpresentation prior to performing the optimization at block 58 toconstruct the calibration model, as shown. In an alternative embodiment,the determination of whether additional presentations are needed may bemade at block 58. In other words, in attempting to generate thecalibration model after each iteration of blocks 52-56, the optimizationprocess in block 58 may also determine whether there are sufficientpresentations to fully parameterize the calibration model. If not, theprocess returns to block 52 for additional presentations.

The orientation/position sensitive calibration pattern facilitates thecalibration of the image capturing system as each camera needs to onlyimage a unique sub-area of the calibration pattern rather than theentire calibration pattern. With at least one of the unique sub-areas ofthe calibration pattern imaged by each camera, the pose of thecalibration pattern for each image can be determined. That a given imagemay capture the image of any unique sub-area of the calibration patternallows for a quicker and more cost-effective calibration process in asystem where the cameras' fields of view may not overlap by asignificant amount, for example. Thus, the three-dimensional calibrationcan be achieved quickly, efficiently and cost-effectively to identifythe pose of the calibration pattern and in turn generate athree-dimensional calibration model without highly skilled usage andwithout excessive pattern presentation. The resulting three-dimensionalcalibration model in turn helps in rectifying the captured images of thetarget objects.

While the exemplary embodiments of the present invention are describedand illustrated herein, it will be appreciated that they are merelyillustrative and that modifications can be made to these embodimentswithout departing from the spirit and scope of the invention. Thus, thescope of the invention is intended to be defined only in terms of thefollowing claims as may be amended, with each claim being expresslyincorporated into this Description of Specific Embodiments as anembodiment of the invention.

1. A method, comprising: positioning an orientation and positionsensitive calibration pattern on a support, the calibration patternhaving a plurality of sub-areas unique within the calibration pattern,each unique sub-area being orientation sensitive and each uniquesub-area being position sensitive within the calibration pattern;capturing images using cameras to be calibrated, each image containingat least one of the unique sub-areas of the calibration pattern;determining a set of coordinate pairs for each image utilizing imagedata and pattern information regarding the calibration pattern, eachcoordinate pair including coordinates of corresponding points in theimage and in the calibration pattern; and performing optimizationutilizing the sets of coordinate pairs for each image to calibrate atleast one of relative position, orientation, zoom, lens distortion ofeach camera so as to construct a three-dimensional calibration model ofthe camera.
 2. The method of claim 1, further comprising: repositioningthe calibration pattern at a different position on the support; andrepeating said capturing and determining.
 3. The method of claim 1,wherein said capturing, and determining are performed at least fourtimes.
 4. The method of claim 1, wherein the calibration pattern isgenerally composed of generally same sized, overlapping unique sub-areasand each sub-area is an area of a predetermined minimum portion of thecalibration pattern, the sub-area being position sensitive within thecalibration pattern by being patterned differently from other sub-areasin the calibration pattern.
 5. The method of claim 1, wherein thesupport is configured to support a target object to be imaged, thetarget object being selected from the group consisting of a bounddocument and an unbound document.
 6. The method of claim 1, wherein thecalibration pattern comprises features at least some of which beingmarked with an orientation/position marker, the combination of thefeatures and markers within each sub-area rendering the sub-area uniquewithin the calibration pattern and orientation and position sensitive.7. The method of claim 1, wherein the calibration pattern comprises agrid of features comprising alternating colored blocks, at least some ofthe features being marked with an orientation/position marker, thecombination of the features and markers within each sub-area renderingthe sub-area unique within the calibration pattern and orientation andposition sensitive.
 8. The method of claim 7, wherein the blocks aresquares of approximately equal size and each marker is of a size smallerthan each block.
 9. The method of claim 7, wherein the alternatingcolored blocks are alternating dark and light blocks.
 10. The method ofclaim 9, wherein a dark block is generally black and a light block isgenerally white and wherein a marker in a black block is generally whiteand a marker in a white block is generally black.
 11. The method ofclaim 9, wherein the calibration pattern comprises alternating generallyblack and generally white square blocks forming the grid, the sub-areaof the calibration pattern being an area of a predetermined minimum Nblocks×M blocks.
 12. The method of claim 11, wherein the calibrationpattern comprises 7 blocks×9 blocks and the sub-area is an area of aminimum 4 blocks×4 blocks.
 13. A computer program product embodied on acomputer readable medium, the computer program product includinginstructions that, when executed by a processor, cause the processor toperform actions comprising: positioning an orientation and positionsensitive calibration pattern on a support, the calibration patternhaving a plurality of sub-areas unique within the calibration pattern,each unique sub-area being orientation sensitive and each uniquesub-area being position sensitive within the calibration pattern;capturing images using cameras to be calibrated, each image containingat least one of the unique sub-areas of the calibration pattern;determining a set of coordinate pairs for each image utilizing imagedata and pattern information regarding the calibration pattern, eachcoordinate pair including coordinates of corresponding points in theimage and in the calibration pattern; and performing optimizationutilizing the sets of coordinate pairs for each image pattern tocalibrate at least one of relative position, orientation, zoom, lensdistortion of each camera so as to construct a three-dimensionalcalibration model of the camera.
 14. The computer program product ofclaim 13, further including instructions that, when executed by theprocessor, cause the processor to perform actions comprising:repositioning the calibration pattern at a different position on thesupport; and repeating said capturing and determining.
 15. The computerprogram product of claim 13, wherein the capturing, and determining areperformed at least four times.
 16. The computer program product of claim13, wherein the calibration pattern is generally composed of generallysame sized, overlapping unique sub-areas and each sub-area is an area ofa predetermined minimum portion of the calibration pattern, the sub-areabeing position sensitive within the calibration pattern by beingpatterned differently from other sub-areas in the calibration pattern.17. The computer program product of claim 13, wherein the support isconfigured to support a target object to be imaged, the target objectbeing selected from the group consisting of a bound document and anunbound document.
 18. The computer program product of claim 13, whereinthe calibration pattern comprises features at least some of which beingmarked with an orientation/position marker, the combination of thefeatures and markers within each sub-area rendering the sub-area uniquewithin the calibration pattern and orientation and position sensitive.19. The computer program product of claim 13, wherein the calibrationpattern comprises a grid of features comprising alternating coloredblocks, at least some of the features being marked with anorientation/position marker, the combination of the features and markerswithin each sub-area rendering the sub-area unique within thecalibration pattern and orientation and position sensitive.
 20. Thecomputer program product of claim 19, wherein the blocks are squares ofapproximately equal size and each marker being of a size smaller thaneach block.
 21. The computer program product of claim 19, thealternating colored blocks are alternating dark and light blocks. 22.The computer program product of claim 21, wherein a dark block isgenerally black and a light block is generally white and wherein amarker in a black block is generally white and a marker in a white blockis generally black.
 23. The computer program product of claim 21,wherein the calibration pattern comprises alternating generally blackand generally white square blocks forming the grid, the sub-area of thecalibration pattern being an area of a predetermined minimum N blocks×Mblocks.
 24. The computer program product of claim 23, wherein thecalibration pattern comprises 7 blocks×9 blocks and the sub-area is anarea of a minimum 4 blocks×4 blocks.
 25. A system, comprising: anorientation and position sensitive calibration pattern configured to bepositioned on a support, the calibration pattern having a plurality ofsub-areas unique within the calibration pattern, each unique sub-areabeing orientation sensitive and each unique sub-area being positionsensitive within the calibration pattern; at least one camera to becalibrated and configured to capture images containing at least one ofthe unique sub-areas of the calibration pattern positioned on thesupport; and a signal processor configured to determine a set ofcoordinate pairs for each image utilizing image data and patterninformation regarding the calibration pattern, each coordinate pairincluding coordinates of corresponding points in the image and in thecalibration pattern, the signal processor is further configured toperform optimization utilizing the sets of coordinate pairs for eachimage to calibrate at least one of relative position, orientation, zoom,lens distortion of each camera so as to construct a three-dimensionalcalibration model of the camera.
 26. The system of claim 25, wherein thesignal processor is configured to perform the optimization by utilizingsets of coordinate pairs for at least 4 images captured by each camera.27. The system of claim 25, further comprising the support configured tosupport a target object to be imaged, the target object being selectedfrom the group consisting of a bound document and an unbound document.28. The system of claim 25, wherein the calibration pattern is generallycomposed of generally same sized, overlapping unique sub-areas and eachsub-area is an area of a predetermined minimum portion of thecalibration pattern, the sub-area being position sensitive within thecalibration pattern by being patterned differently from other sub-areasin the calibration pattern.
 29. The system of claim 25, wherein thecalibration pattern comprises features at least some of which beingmarked with an orientation/position marker, the combination of thefeatures and markers within each sub-area rendering the sub-area uniquewithin the calibration pattern and orientation and position sensitive.30. The system of claim 25, wherein the calibration pattern comprises agrid of features comprising alternating colored blocks, at least some ofthe features being marked with an orientation/position marker, thecombination of the features and markers within each sub-area renderingthe sub-area unique within the calibration pattern and orientation andposition sensitive.
 31. The system of claim 30, wherein the blocks aresquares of approximately equal size and each marker is of a size smallerthan each block.
 32. The system of claim 30, wherein the alternatingcolored blocks are alternating dark and light blocks.
 33. The system ofclaim 32, wherein a dark block is generally black and a light block isgenerally white and wherein a marker in a black block is generally whiteand a marker in a white block is generally black.
 34. The system ofclaim 32, wherein the calibration pattern comprises alternatinggenerally black and generally white square blocks forming the grid, thesub-area of the calibration pattern being an area of a predeterminedminimum N blocks×M blocks.
 35. The system of claim 34, wherein thecalibration pattern comprises 7 blocks×9 blocks and the sub-area is anarea of a minimum 4 blocks×4 blocks.